Trajectory planning of robotic arm based on improved RRT method

Weikun Chen; Changjuan Yao; Xiaowei Jin; Yanchang Zhang; Xuguang Liu; Meng Li

doi:10.1117/12.3030230

5 June 2024 Trajectory planning of robotic arm based on improved RRT method

Weikun Chen, Changjuan Yao, Xiaowei Jin, Yanchang Zhang, Xuguang Liu, Meng Li

Proceedings Volume 13163, Fourth International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024); 131638J (2024) https://doi.org/10.1117/12.3030230
Event: International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024), 2024, Xi'an, China

Abstract

Mechanical arms have been widely used in industrial production, and their working environment has become increasingly complex. Industrial manufacturing requires robotic arms to have higher efficiency and accuracy, so studying the motion analysis and path planning of robotic arms is very important. In this article, we used geometric and analytical methods to solve the kinematic analysis of the robotic arm from both forward and inverse perspectives. In order to improve the work efficiency and service life of the robotic arm, the Informed RRT* algorithm was used to optimize the motion trajectory of the robotic arm. Finally, we use the PUMA560 robotic arm as the simulation object to analyze the algorithm. The simulation results show that this method can help the robotic arm achieve optimal performance.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Weikun Chen, Changjuan Yao, Xiaowei Jin, Yanchang Zhang, Xuguang Liu, and Meng Li "Trajectory planning of robotic arm based on improved RRT method", Proc. SPIE 13163, Fourth International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024), 131638J (5 June 2024); https://doi.org/10.1117/12.3030230

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available